A motion control device for a vehicle having a braking means for applying a brake toque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a maximum steering angular velocity calculating means for calculating a maximum steering angular velocity on the basis of the steering angular velocity, a determining means for determining a reference turning state quantity on the basis of the maximum steering angular velocity, an actual turning state quantity obtaining means for obtaining an actual turning state quantity of the vehicle, and a control means for controlling the brake toque on the basis of the reference turning state quantity and the actual turning state quantity.
